Title :
Joystick mapped Augmented Reality Cues for End-Effector controlled Tele-operated Robots
Author :
Nawab, Aditya ; Chintamani, Keshav ; Ellis, Darin ; Auner, Gregory ; Pandya, Abhilash
Author_Institution :
Mobile Intelligence Corp., Livonia, MI
Abstract :
End-effector control of robots using just remote camera views is difficult due to lack of perceived correspondence between the joysticks and the end-effector coordinate frame. This paper reports the positive effects of augmented reality visual cues on operator performance during end-effector controlled tele-operation using only camera views. Our solution is to overlay a color-coded coordinate system on the end-effector of the robot using AR techniques. This mapped and color-coded coordinate system is then directly mapped to similarly color-coded joysticks used for control of both position and orientation. The AR view along with mapped markings on the joystick give the user a clear notion of the effect of their joystick movements on the end-effector of the robot. All camera views display this registered dynamic overlay information on-demand. An insertion task was used to compare performance with and without the coordinate mapping using fifteen subjects. Preliminary results indicate a significant reduction in distance and reversal errors
Keywords :
augmented reality; end effectors; manipulator kinematics; telerobotics; joystick mapped augmented reality; robot end-effector control; tele-operated robots; Augmented reality; Cameras; Displays; Human factors; Intelligent robots; Navigation; Robot control; Robot kinematics; Robot vision systems; Software testing; Augmented Reality; Kinematics; Performance Testing; Robotics; Tele-operations;
Conference_Titel :
Virtual Reality Conference, 2007. VR '07. IEEE
Conference_Location :
Charlotte, NC
Print_ISBN :
1-4244-0906-3
Electronic_ISBN :
1-4244-0906-3
DOI :
10.1109/VR.2007.352496